Transferring Disk Drives Within Disk Drive Testing Systems

ABSTRACT

A method of transferring disk drives within a disk drive testing system includes actuating an automated transporter to retrieve multiple disk drives presented for testing, and actuating the automated transporter to deliver each retrieved disk drive to a respective test slot of the disk drive testing system and insert each disk drive in the respective test slot.

RELATED APPLICATIONS

This application is a continuation and claims the benefit of priorityunder 35 U.S.C. §120 of U.S. application Ser. No. 12/104,536, filed Apr.17, 2008. The disclosure of the prior application is considered part of,and is incorporated by reference in, the disclosure of this application.

TECHNICAL FIELD

This disclosure relates to transferring disk drives within disk drivetesting systems.

BACKGROUND

Disk drive manufacturers typically test manufactured disk drives forcompliance with a collection of requirements. Test equipment andtechniques exist for testing large numbers of disk drives serially or inparallel. Manufacturers tend to test large numbers of disk drivessimultaneously in batches. Disk drive testing systems typically includeone or more racks having multiple test slots that receive disk drivesfor testing.

The testing environment immediately around the disk drive is closelyregulated. Minimum temperature fluctuations in the testing environmentare critical for accurate test conditions and for safety of the diskdrives. The latest generations of disk drives, which have highercapacities, faster rotational speeds and smaller head clearance, aremore sensitive to vibration. Excess vibration can affect the reliabilityof test results and the integrity of electrical connections. Under testconditions, the drives themselves can propagate vibrations throughsupporting structures or fixtures to adjacent units. This vibration“cross-talking,” together with external sources of vibration,contributes to bump errors, head slap and non-repetitive run-out (NRRO),which may result in lower test yields and increased manufacturing costs.

Current disk drive testing systems use an operator, a robotic arm, or aconveyer belt to individually feed disk drives to a transfer locationfor loading into the testing system for testing. A robotic arm of thetesting system individually retrieves the disk drives from the transferlocation and loads them in test slots for testing.

SUMMARY

In one aspect, a method of transferring disk drives within a disk drivetesting system includes actuating an automated transporter (e.g. roboticarm, gantry system, or multi-axis linear actuator) to retrieve multipledisk drives presented for testing, and actuating the automatedtransporter to deliver each retrieved disk drive to a respective testslot of the disk drive testing system and to insert each disk drive inthe respective test slot.

Implementations of this aspect of the disclosure may include one or moreof the following features. In some implementations, the method includesactuating the automated transporter to retrieve multiple disk drivetransporters, actuating the automated transporter to retrieve the diskdrives presented for testing by carrying each of the disk drives withrespective disk drive transporters, and actuating the automatedtransporter to deliver the disk drive transporters, each carrying one ofthe disk drives, to the respective test slots. In some examples, each ofthe disk drive transporters is inserted into a respective test slot,engaging the carried disk drive with a respective connector of the diskdrive testing system. The inserted disk drive transporters provideclosure of their respective test slots.

In some implementations, the disk drives are present in at least onedisk drive tote presented to the disk drive testing system. Theautomated transporter retrieves each of the disk drives from the atleast one disk drive tote with the corresponding disk drive transporterby positioning the disk drive transporter below the disk drive, liftingthe disk drive off a disk drive support of the disk drive tote, andcarrying the disk drive in the disk drive transporter away from the diskdrive tote.

The automated transporter preferably includes a manipulator configuredto transport multiple disk drives. For example, in the case of a roboticarm as the automated transporter, the manipulator is secured to a distalend of the robot arm. In some examples, the manipulator includes firstand second connectors disposed on a manipulator body and arranged in asubstantially V-shaped configuration with respect to each other. Theconnectors are configured to releasably attach to a disk drivetransporter.

In another aspect, a method of transferring disk drives within a diskdrive testing system includes actuating an automated transporter havinga manipulator to retrieve an untested disk drive presented for testing.The manipulator is configured to transport multiple disk drives. Themethod includes actuating the automated transporter to deliver theretrieved untested disk drive to a respective test slot of the diskdrive testing system and insert the untested disk drive in itsrespective test slot for testing.

Implementations of this aspect of the disclosure may include one or moreof the following features. In some implementations, the manipulatorincludes first and second connectors disposed on a manipulator body andarranged in a substantially V-shaped configuration with respect to eachother. However, in some examples, the first and second connectors aredisposed 180 degrees from one another. The connectors are configured toreleasably attach to a disk drive transporter.

In some examples, the method includes actuating the automatedtransporter to retrieve a disk drive transporter, actuating theautomated transporter to retrieve the untested disk drive presented fortesting by carrying the untested disk drive with the disk drivetransporter, and actuating the automated transporter to deliver the diskdrive transporter to the respective test slot. The disk drivetransporter is inserted into the test slots, engaging the carrieduntested disk drive with a respective connector of the disk drivetesting system. The inserted disk drive transporter provides closure ofits respective test slot.

In some implementations, the untested disk drive is present in a diskdrive tote presented to the disk drive testing system. The automatedtransporter retrieves the untested disk drive from the disk drive totewith the corresponding disk drive transporter by positioning the diskdrive transporter below the untested disk drive, lifting the untesteddisk drive off a disk drive support of the disk drive tote, and carryingthe untested disk drive in the disk drive transporter away from the diskdrive tote.

In some implementations, the method includes actuating the automatedtransporter and the manipulator to retrieve a tested disk drive from itsrespective test slot and carrying the tested disk drive to a destinationlocation, such as a destination disk drive tote. The method may includeactuating the automated transporter to retrieve the tested disk drivefrom its respective test slot by actuating the manipulator to engage arespective disk drive transporter of the tested disk drive and carryingthe tested disk drive with its respective disk drive transporter to thedestination location. The method may include actuating the automatedtransporter to deliver the disk drive carried by its respective diskdrive transporter to a receptacle of a destination disk drive tote.

In another aspect, a method of transferring disk drives within a diskdrive testing system includes actuating an automated transporter havinga manipulator to retrieve a first disk drive housed in a first test slotof the disk drive testing system. The manipulator is configured totransport multiple disk drives. The method includes actuating theautomated transporter to deliver the retrieved first disk drive to asecond test slot, actuating the automated transporter to retrieve asecond disk drive from the second test slot while carrying the firstdisk drive, and actuating the automated transporter to insert the firstdisk drive into the second test slot while carrying the second diskdrive.

Implementations of this aspect of the disclosure may include one or moreof the following features. In some implementations, the method includesactuating the automated transporter to deliver the retrieved second diskdrive to the first test slot, and actuating the automated transporter toinsert the second disk drive into the first test slot. The manipulatorincludes a manipulator body and first and second connectors disposed onthe manipulator body. The connectors are arranged in a substantiallyV-shaped configuration with respect to each other and are eachconfigured to releasably attach to a disk drive transporter. Themanipulator transports the first and second disk drives in correspondingreleasably attached disk drive transporters. In examples where the diskdrives are each carried in a corresponding disk drive transporter,inserting each disk drive into one of the test slots includes insertingthe corresponding disk drive transporter into the respective test slot,engaging the carried disk drive with a respective connector of the diskdrive testing system, the inserted disk drive transporter providingclosure of its respective test slot.

In yet another aspect, a disk drive testing system includes an automatedtransporter, at least one rack about the automated transporter foraccess by the automated transporter, and multiple test slots housed byeach rack. Each test slot is configured to receive a disk drive fortesting. A transfer station, arranged for access by the automatedtransporter, presents multiple disk drives for testing. A manipulatorattached to the automated transporter is configured to carry multipledisk drives.

Implementations of this aspect of the disclosure may include one or moreof the following features. In some implementations, the manipulator isconfigured to releasably attach to multiple disk drive transporters. Themanipulator includes first and second connectors disposed on amanipulator body and arranged in a substantially V-shaped configurationwith respect to each other. The connectors are configured to releasablyattach to a disk drive transporter.

In some examples, the transfer station includes a transfer stationhousing configured to receive and support multiple disk drive totes in apresentation position for servicing by the automated transporter. Eachdisk drive tote includes a tote body defining multiple disk drivereceptacles configured to each house a disk drive.

The details of one or more implementations of the disclosure are setforth in the accompanying drawings and the description below. Otherfeatures, objects, and advantages will be apparent from the descriptionand drawings, and from the claims.

DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view of a disk drive testing system and atransfer station.

FIG. 2 is a top view of a disk drive testing system and a transferstation.

FIG. 3 is a perspective view of a disk drive testing system and atransfer station.

FIG. 4 is a perspective view of a disk drive being inserted into a testslot of a disk drive testing system.

FIG. 5 is a perspective view of a disk drive transporter.

FIG. 6 is a perspective view of a disk drive transporter carrying a diskdrive.

FIG. 7 is a bottom perspective view of a disk drive transporter carryinga disk drive.

FIG. 8 is a perspective view of a robotic arm with a manipulator securedto its distal end.

FIG. 9 is an elevated front perspective view of a manipulator for arobotic arm.

FIG. 10 is a elevated rear perspective view of the manipulator shown inFIG. 9.

FIG. 11 is an elevated front perspective view of a manipulator for arobotic arm.

FIG. 12 is a perspective view of a disk drive tote in a loadingposition.

FIG. 13 is a perspective view of a disk drive tote in a presentationposition.

FIG. 14 is a perspective view of a transfer station.

FIG. 15 is a perspective view of a tote in a presentation position forplacement on a tote presentation support system of a transfer station.

Like reference symbols in the various drawings indicate like elements.

DETAILED DESCRIPTION

Bulk feeding of disk drives in a disk drive testing system isadvantageous over manual individual feeding of disk drives by providingincreased through-put and efficiency of the disk drive testing system,inter alia. As will be discussed in detail, presenting multiple diskdrive totes (also referred to as totes), which hold multiple diskdrives, to a disk drive testing system allows continual disk drivetesting, disk sorting amongst multiple disk drive totes, minimal userintervention, and increased efficiency over current systems, inter alia.Bulk feeding of disk drives in disk drive totes provides the advantageof shop floor flexibility (e.g. by providing the ability to easilyredirect a disk drive tote or a cart or trolley carrying disk drivetotes versus rerouting fixed conveyors). An operator can present a batchof drives (e.g. via the disk drive tote) to the disk drive testingsystem and then walk away to service another system. Bulk feeding ofdisk drives in disk drive totes also allows automatic sorting of testeddrives with the disk drive totes, as will be discussed below.

Referring to FIGS. 1-3, in some implementations, a disk drive testingsystem 100 includes at least one automated transporter 200 (e.g. roboticarm, gantry system, or multi-axis linear actuator) defining a first axis205 (see FIG. 3) substantially normal to a floor surface 10. In theexamples shown, the automated transporter 200 comprises a robotic arm200 operable to rotate through a predetermined arc about the first axis205 and to extend radially from the first axis 205. The robotic arm 200is operable to rotate 360° about the first axis 205 and includes amanipulator 700 disposed at a distal end of the robotic arm 200 tohandle one or more disk drives 500 and/or disk drive transporters 550 tocarry the disk drives 500 (see e.g. FIGS. 5-6). Multiple racks 300 arearranged around the robotic arm 200 for servicing by the robotic arm200. Each rack 300 houses multiple test slots 310 configured to receivedisk drives 500 for testing. The robotic arm 200 defines a substantiallycylindrical working envelope volume 210, with the racks 300 beingarranged within the working envelope 210 for accessibility of each testslot 310 for servicing by the robotic arm 200. The substantiallycylindrical working envelope volume 210 provides a compact footprint andis generally only limited in capacity by height constraints. In someexamples, the robotic arm 200 is elevated by and supported on a pedestalor lift 250 on the floor surface 10. The pedestal or lift 250 increasesthe size of the working envelope volume 210 by allowing the robotic arm200 to reach not only upwardly, but also downwardly to service testslots 310. The size of the working envelope volume 210 can be furtherincreased by adding a vertical actuator to the pedestal or lift 250.

The automated transporter 200 (e.g. robotic arm) is configured toindependently service each test slot 310 to provide a continuous flow ofdisk drives 500 through the testing system 100. A continuous flow ofindividual disk drives 500 through the testing system 100 allows randomstart and stop times for each disk drive 500, whereas other systems thatrequire batches of disk drives 500 to be run all at once as an entiretesting loaded must all have the same start and end times. Therefore,with continuous flow, disk drives 500 of different capacities can be runat the same time and serviced (loaded/unloaded) as needed.

Referring to FIGS. 3-4, the disk drive testing system 100 includes atransfer station 400 configured for bulk feeding of disk drives 500 tothe automated transporter 200 (e.g. a robotic arm, as shown). Theautomated transporter 200 independently services each test slot 310 bytransferring a disk drive 500 between the transfer station 400 and thetest slot 310. The transfer station 400 houses one or more totes 600carrying multiple disk drives 500 presented for servicing by theautomated transporter 200. The transfer station 400 is a service pointfor delivering and retrieving disk drives 500 to and from the disk drivetesting system 100. The totes 600 allow an operator to deliver andretrieve a collection of disk drives 500 to and from the transferstation 400. In the example shown in FIG. 3, each tote 600 is accessiblefrom respective tote presentation support systems 420 in a presentationposition and may be designated as a source tote 600 for supplying acollection of disk drives 500 for testing or as a destination tote 600for receiving tested disk drives 500 (or both). Destination totes 600may be classified as “passed return totes” or “failed return totes” forreceiving respective disk drives 500 that have either passed or failed afunctionality test, respectively.

In implementations that employ disk drive transporters 550 formanipulating disk drives 500, as shown in FIG. 4, the robotic arm 200 isconfigured to remove a disk drive transporter 550 from one of the testslots 310 with the manipulator 700, then pick up a disk drive 500 fromone the totes 600 presented at the transfer station 400 with the diskdrive transporter 550, and then return the disk drive transporter 550,with a disk drive 500 therein, to the test slot 310 for testing of thedisk drive 500. After testing, the robotic arm 200 retrieves the testeddisk drive 500 from the test slot 310, by removing the disk drivetransporter 550 carrying the tested disk drive 500 from the test slot310 (i.e., with the manipulator 700), carrying the tested disk drive 500in the disk drive transporter 550 to the transfer station 400, andmanipulating the disk drive transporter 550 to return the tested diskdrive 500 to one of the totes 600 at the transfer station 400.

The test slot 310, shown in FIG. 4, defines an opening 312 configured toreceive the disk drive transporter 550, which in this case providesclosure of the test slot 310. The disk drive transporter 550 isconfigured to receive the disk drive 500, as shown in FIG. 5, and behandled by the automated transporter 200. In use, one of the disk drivetransporters 550 is removed from one of the test slots 310 with therobot 200 (e.g., by grabbing, or otherwise engaging, the indentation 552of the transporter 550 with the manipulator 700 of the robot 200). Insome examples, as illustrated in FIGS. 5-7, the disk drive transporter550 includes a frame 560 defining a substantially U-shaped opening 561formed by sidewalls 562, 564 and a base plate 566 that collectivelyallow the frame 560 to fit around a disk drive support (not shown) inthe tote 600 so that the disk drive transporter 550 can be moved (e.g.,via the robotic arm 200) into a position beneath one of the disk drives500 housed in one of multiple disk drive receptacles 620 defined by thetote 600 (see e.g., FIGS. 8-9). The disk drive transporter 550 can thenbe raised (e.g., by the robotic arm 310) into a position engaging thedisk drive 600 for removal from the tote 600.

With the disk drive 500 in place within the frame 560 of the disk drivetransporter 550, the disk drive transporter 550 and the disk drive 500together can be moved by the robotic arm 200 for placement within one ofthe test slots 310, as shown in FIG. 4. In some implementations, themanipulator 700 is also configured to initiate actuation of a clampingmechanism 570 disposed in the disk drive transporter 550. This allowsactuation of the clamping mechanism 570 before the transporter 550 ismoved from the tote 600 to the test slot 310 to inhibit movement of thedisk drive 500 relative to the disk drive transporter 550 during themove. Prior to insertion in the test slot 310, the manipulator 700 canagain actuate the clamping mechanism 570 to release the disk drive 500within the frame 560. This allows for insertion of the disk drivetransporter 550 into one of the test slots 310, until the disk drive 500is in a test position with a disk drive connector 510 engaged with atest slot connector (not shown). The clamping mechanism 570 may also beconfigured to engage the test slot 310, once received therein, toinhibit movement of the disk drive transporter 550 relative to the testslot 310. In such implementations, once the disk drive 500 is in thetest position, the clamping mechanism 570 is engaged again (e.g., by themanipulator 700) to inhibit movement of the disk drive transporter 550relative to the test slot 310. The clamping of the transporter 550 inthis manner can help to reduce vibrations during testing. In someexamples, after insertion, the disk drive transporter 550 and disk drive500 carried therein are both clamped or secured in combination orindividually within the test slot 310.

Referring to FIGS. 8-11, the manipulator 700 is secured to a distal end202 of the robotic arm 200. The manipulator 700 includes first andsecond arms 720, 730 disposed on a manipulator body 710 and arranged ina substantially V-shaped configuration with respect to each other. Insome implementations, the arms 720, 730 can be disposed in otherarrangements, such as 180 degrees from each other or some other angletherebetween. The arms 720, 730 each have connectors 740 configured toreleasably attach to a disk drive transporter 550. In the examplesshown, each connector 740 includes first and second tabs 742, 744opposedly coupled to a tab actuator 750 disposed on the arm 720,730. Thetab actuator 750 is operable to move its coupled tabs 742, 744 inopposing directions to releasably engage and hold a disk drivetransporter 550. To grab the disk drive transporter 550, the robotic arm200 and manipulator 700 are actuated to maneuver one of the connectors740 to place the tabs 742, 744 into the indentation 552 of the diskdrive transporter 550 and then actuate the tab actuator 740 to move thetabs 742, 744 away from each other and engage the indentation 552 toreleasable attach to the disk drive transporter 550. In some examples,the tabs 742, 744 are hook shaped and/or have friction pads to engagethe indentation 552 of the disk drive transporter 550. Each arm 720, 730of the manipulator 700 has first and second clamp actuators 762, 764configured to engage the clamping mechanism 570 of the disk drivetransporter 550. The clamp actuators 762, 764 may be operable to push orpull on the clamping mechanism 570 to engage/disengage the clampingmechanism 570.

In the example illustrated in FIGS. 12-13, the tote 600 includes a totebody 610 having a front side 611, a back side 612, a top side 613, abottom side 614, a right side 615 and a left side 616. The tote body 610defines multiple disk drive receptacles 620 in the front side 611 thatare each configured to house a disk drive 500. In some examples, thetote 600 rests on its back side 612 while in the loading position, suchthat the disk drive receptacles 620 are substantially vertical and faceupward, as shown in FIG. 12. In other examples, the tote 600 is held inanother orientation while in the loading position, such as at an inclineor in a vertical orientation, as with the presentation position. In thepresentation position, the tote 600 rests on its bottom side 614, suchthat the disk drive receptacles 620 are substantially horizontal andface laterally, as shown in FIG. 13. The tote body 610 defines armgrooves 630 in the right and left sides 615, 616 of the tote body 610that are configured to support the tote 600.

In the example shown, each disk drive receptacle 620 includes a diskdrive support 622 configured to support a central portion 502 (see FIG.7) of the received disk drive 500 to allow manipulation of the diskdrive 500 along non-central portions. In some implementations, the diskdrive support 622 is configured to support the disk drive 500 at anincline, while the tote 600 is in a substantially vertical orientation,such that the disk drive 500 has a tending to slide deeper into the diskdrive receptacle 620, rather than out of the disk drive receptacle 620.To remove a housed disk drive 500 from the disk drive receptacle 620,the disk drive transporter 550 is positioned below the disk drive 500(e.g. by the robotic arm 200) in the disk drive receptacle 620 andelevated to lift the disk drive 500 off of the disk drive support 622.The disk drive transporter 550 is then removed from the disk drivereceptacle 620 while carrying the disk drive 500 for delivery to adestination target, such as a test slot 310.

Referring to FIG. 14, in some implementations, the transfer station 400includes a transfer station housing 410 and multiple tote presentationsupport systems 420 disposed on the transfer station housing 410. Eachtote presentation support system 420 is configured to receive andsupport a disk drive tote 600 in a presentation position for servicingby the disk drive testing system 100.

In some implementations, the tote presentation support systems 420 areeach disposed on the same side of the transfer station housing 410 andarranged vertically with respect to each other. Each tote presentationsupport systems 420 has a different elevation with respect to theothers. In some examples, as shown in FIG. 15, the tote presentationsupport system 420 includes first and second opposing pairs 422, 424 oftote support arms 426 configured to be received by respective armgrooves 630 defined by the tote body 610 of the disk drive tote 600.

Referring again to FIG. 14, a tote mover 430 is disposed on the transferstation housing 410 and is configured to move a pivotally coupled toteloading support 440, which is configured to receive and support a diskdrive tote 600. The tote loading support 440 pivots and moves between afirst position and a second position. The tote mover 430 is configuredto move the tote loading support 440 between the first position, forholding a disk drive tote 600 in a loading position (e.g. in ahorizontal orientation at the loading support's first position), and thesecond position, for holding a disk drive tote 600 in the presentationposition (e.g. in a substantially vertical orientation) at one of thetote presentation support systems 420 for servicing by the disk drivetesting system 100 (e.g. by the robotic arm 200). In some examples, thetote presentation support system 420 holds the tote 600 at a slightlyinclined (e.g. off vertical) orientation to keep disk drives 500 fromaccidentally slipping out of the tote 600.

A method of performing disk drive testing includes presenting multipledisk drives 500 to a disk drive testing system 100 for testing andactuating an automated transporter 200 (e.g. robotic arm) to retrieveone of the disk drives 500 from the disk drive tote 600 and deliver theretrieved disk drive 500 to a test slot 310 of a rack 300 of the diskdrive testing system 100. The method includes actuating the automatedtransporter 200 to insert the disk drive 500 in the test slot 310, andperforming a functionality test on the disk drive 500 received by thetest slot 310. The method may also include actuating the automatedtransporter 200 to retrieve the tested disk drive 500 from the test slot310 and deliver the tested disk drive 500 back to a destinationlocation. In some implementations, the method includes retrievingmultiple presented disk drives 500 and delivering each of the diskdrives to a respective test slot 310. In other implementations, themethod includes shuffling disk drives 500 amongst test slots 310 byactuating the automated transporter 200 to remove a first disk drive 500from a first test slot 310 and carrying it with the first arm 720 of themanipulator 700, moving to a second test slot 310 and removing a seconddisk drive 500 and carrying it with the second arm 730 of themanipulator 700, and then inserting the first disk drive 500 into thesecond slot 310. The method may also include actuating the automatedtransporter 200 to move the second disk drive to the first test slot 310and inserting the second disk drive 500 in the first test slot 310. Forthis mode of operation (disk drive shuffling), the dual-armedmanipulator 700 provides distinct advantages over a single-armedmanipulator by allowing direct exchanges of disk drives 500 at eachstop, rather than having to take a disk drive 500 out of a first testslot 310, park the disk drive 500 in an empty slot 310 or in a tote 600,retrieve another disk drive 500 from a second slot 310 and insert thatdisk drive 500 into the first test slot 310, and then retrieve theparked disk drive 500 and insert it in the second slot 310. Thedual-armed manipulator 700 removes the step of parking one of the diskdrives 500 while swapping disk drives 500 amongst two test slots 310.

Presenting multiple disk drives 500 for testing may be achieved byloading multiple disk drives 500 into/onto a transfer station 400, as byloading the disk drives 500 into disk drive receptacles 620 defined by adisk drive tote 600, and loading the disk drive tote 600 into/onto thetransfer station 400. A tote mover 430 of the transfer station 400 isactuated to move the disk drive tote 600 from a loading position to apresentation position for servicing by the disk drive testing system100. The disk drive tote 600 is supported in the presentation positionby one of multiple tote presentation support systems 420 disposed on thetransfer station housing 410 and arranged vertically with respect toeach other. Multiple disk drive totes 600, each housing disk drives 500,can be sequentially placed in the loading position on the transferstation 400 and moved by the tote mover 430 to its respectivepresentation position at one of the multiple tote presentation supportsystems 420 for servicing by the disk drive testing system 100.

In retrieving one or more of the presented disk drives 500 for testing,the method preferably includes actuating the automated transporter 200to retrieve a disk drive transporter 550 (e.g. from a test slot 310housed in a rack 300), and actuating the automated transporter 200 toretrieve one of the disk drives 500 from the transfer station 400 andcarry the disk drive 500 in the disk drive transporter 550. The methodincludes actuating the automated transporter 200 to deliver the diskdrive transporter 550 carrying the disk drive 500 to the test slot 310for performing a functionality test on the disk drive 500 housed by thereceived disk drive transporter 550 and the test slot 310. In someexamples, delivering the disk drive transporter 550 to the test slot 310includes inserting the disk drive transporter 550 carrying the diskdrive 500 into the test slot 310 in the rack 300, establishing anelectric connection between the disk drive 500 and the rack 300. Aftertesting is completed on the disk drive 500, the method includesactuating the automated transporter 200 to retrieve the disk drivetransporter 550 carrying the tested disk drive 500 from the test slot310 and delivering the tested disk drive 500 back to a destinationlocation, such as a destination disk drive tote 600 on the transferstation 400. In some implementations, the rack 300 and two or moreassociated test slots 310 are configured to move disk drives 500internally from one test slot 310 to another test slot 310, as in thecase where the test slots 310 are provisioned for different kinds oftests.

In some examples, the method includes actuating the automatedtransporter 200 to deposit the disk drive transporter 550 in the testslot 310 after depositing the tested disk drive 500 at a destinationlocation (e.g. in a disk drive receptacle 620 of a destination diskdrive tote 600), or repeating the method by retrieving another diskdrive 500 for testing (e.g. from the disk drive receptacle 620 of asource disk drive tote 600).

In some implementations, the automated transporter 200 includes themanipulator 700, discussed above, which allows the automated transporter200 to retrieve, handle, and deliver multiple disk drives 500 and/ordisk drive transporters 550. For example, the automated transporter 200can retrieve and carry one untested disk drive 500 in a disk drivetransporter 500 held by one arm 720, 730 of the manipulator 700, anddeliver the untested disk drive 500 to a test slot 310. At the test slot310, the automated transporter 200 removes a disk drive transporter 550carrying a test disk drive 500 currently in the test slot 310, beforeinserting the disk drive transporter 550 carrying the untested diskdrive 500 into the test slot 310 for testing. The automated transporter200 then delivers the tested disk drive 500 to a destination location,such as a receptacle 620 of a destination disk drive tote 600. Inanother example, the automated transporter 200 can retrieve and carrytwo untested disk drives 500, one on each arm 720, 730 of themanipulator 700, and then deliver the two untested disk drives 500 torespective test slots 310 for testing. The automated transporter 700 canthen be actuated to retrieve two tested disk drives 500 from theirrespective slots 310 (e.g. by engaging and removing their respectivedisk drive transporters 550 with the manipulator 700), and deliver thetested disk drives 500 to a destination location, such as tworeceptacles 620 of one or more destination disk drive totes 600. If onetested disk drive 500 passed the disk drive testing and the otherfailed, they may be placed in different destination disk drive totes600, such a “passed” disk drive tote 600 and a “failed” disk drive tote600.

The manipulator 700 allows the automated transporter 200 to movemultiple disk drives 500 and/or disk drive transporters 550 within thedisk drive testing system 100 to accomplish more tasks than previouslyachievable by a manipulator capable of only handling one disk drive 500and/or disk drive transporter 550 at a time. The increased flexibilityallows for path planning of the automated transporter 200 to optimizeits movements.

A number of implementations have been described. Nevertheless, it willbe understood that various modifications may be made without departingfrom the spirit and scope of the disclosure. Accordingly, otherimplementations are within the scope of the following claims.

1. A method of transferring disk drives within a disk drive testingsystem, the method comprising: actuating an automated transporter toretrieve multiple disk drive transporters; actuating the automatedtransporter to retrieve multiple disk drives presented for testing bycarrying each of the disk drives with respective disk drivetransporters; and actuating the automated transporter to deliver each ofthe disk drive transporters, each carrying one of the disk drives, to arespective test slot of the disk drive testing system and to insert eachtransporter, carrying a disk drive, in the respective test slots.
 2. Themethod of claim 1, wherein each of the disk drive transporters isinserted into a respective test slot, engaging the carried disk drivewith a respective connector of the disk drive testing system, theinserted disk drive transporters providing closure of their respectivetest slots.
 3. The method of claim 1, wherein the disk drives arepresent in at least one disk drive tote presented to the disk drivetesting system.
 4. The method of claim 3, wherein the automatedtransporter retrieves each of the disk drives from the at least one diskdrive tote with the corresponding disk drive transporter by positioningthe disk drive transporter below the disk drive, lifting the disk driveoff a disk drive support of the disk drive tote, and carrying the diskdrive in the disk drive transporter away from the disk drive tote. 5.The method of claim 1, wherein the automated transporter comprises amanipulator configured to transport multiple disk drives.
 6. A method oftransferring disk drives within a disk drive testing system, the methodcomprising: actuating an automated transporter having a manipulator toretrieve an untested disk drive presented for testing, the manipulatorbeing configured to transport multiple disk drives; and actuating theautomated transporter to deliver the retrieved untested disk drive to arespective test slot of the disk drive testing system and insert theuntested disk drive in its respective test slot for testing.
 7. Themethod of claim 6, further comprising: actuating the automatedtransporter to retrieve a disk drive transporter; actuating theautomated transporter to retrieve the untested disk drive presented fortesting by carrying the untested disk drive with the disk drivetransporter; and actuating the automated transporter to deliver the diskdrive transporter to the respective test slot.
 8. The method of claim 7,wherein the disk drive transporter is inserted into the test slots,engaging the carried untested disk drive with a respective connector ofthe disk drive testing system, the inserted disk drive transporterproviding closure of its respective test slot.
 9. The method of claim 7,wherein the untested disk drive is present in a disk drive totepresented to the disk drive testing system.
 10. The method of claim 9,wherein the automated transporter retrieves the untested disk drive fromthe disk drive tote with the corresponding disk drive transporter bypositioning the disk drive transporter below the untested disk drive,lifting the untested disk drive off a disk drive support of the diskdrive tote, and carrying the untested disk drive in the disk drivetransporter away from the disk drive tote.
 11. The method of claim 6,further comprising actuating the automated transporter and themanipulator to retrieve a tested disk drive from its respective testslot and carrying the tested disk drive to a destination location. 12.The method of claim 11, further comprising actuating the automatedtransporter to retrieve the tested disk drive from its respective testslot by actuating the manipulator to engage a respective disk drivetransporter of the tested disk drive and carrying the tested disk drivewith its respective disk drive transporter to the destination location.13. A disk drive testing system comprising: an automated transporter; atleast one rack arranged about the automated transporter for access bythe automated transporter; multiple test slots housed by each rack, eachtest slot being configured to receive a disk drive for testing; atransfer station arranged for access by the automated transporter, thetransfer station presenting multiple disk drives for testing; and amanipulator attached to the automated transporter, the manipulator beingconfigured to carry multiple disk drives.
 14. The disk drive testingsystem of claim 13, wherein the manipulator is configured to releasablyattach to multiple disk drive transporters.
 15. The disk drive testingsystem of claim 13, wherein the transfer station comprises a transferstation housing configured to receive and support multiple disk drivetotes in a presentation position for servicing by the automatedtransporter, wherein each disk drive tote comprises a tote body definingmultiple disk drive receptacles configured to each house a disk drive.